Hello,
I try to tune estimation of position and i have some doubts how to change priority of sensors,
Question is following if it is right :if i want to give priority to GPS altitude insthead of barometer i need to increase paramater EKF2_BARO_NOISE and reduce the value of EKF2_BARO_GATE, and if same logic can be applied to XY positionning when i have more accurate Vision measurements and i need to reduce the “weight” of GPS measurements?
Hi,
EKF2 does not use both the altitude of the baro and GPS at once, but only one of them (configured by EKF2_HGT_MODE).
The gate parameters does not change the weight of a sensor but how soon the EKF should reject a measurement.
Hello,
Is it possible to give 70% weighting to the GPS altitude reading and 30% weight to the baro measurements for EKF2 altitude estimation calculation?
Is it possible to tune something as mentioned above?
Thanks in advance!